An active and passive dual hemispherical capsule robot and its attitude adjustment and turning drive control method

Abstract

The invention belongs to the technical field of automation engineering, and relates to a basic control method through which an active and passive dual-hemispheroid structure capsule robot can freely adjust the posture in a gastrointestinal tract and can roll along each bending section of an intestinal tract by the use of space universal rotation magnetic vectors. The robot can freely adjust the posture with the aid of a following-up effect with corresponding azimuth rotation magnetic vectors under a state that the rotation magnetic vectors applied above the contact surface of the gastrointestinal tract drive an active hemispheroid to idle relative to the passive hemispheroid. The axis of the robot is basically the same with the bending direction of each section of the intestinal tract through the adjustment of the rotation magnetic vector azimuth according to images wirelessly sent by a camera arranged at the front end of the capsule robot, and rolling rotation magnetic vectors perpendicular to the bending direction of each section of the intestinal tract are applied in the horizontal plane, so that the active hemispheroid is driven to drive the robot to roll along the bending direction of each section of the intestinal tract, wherein the axis of the active hemispheroid is in the horizontal plane and the active hemispheroid is in contact with the intestinal tract.

Description

technical field [0001] The invention belongs to the technical field of automation engineering, and relates to a basic control method for a capsule robot with an active and passive double hemisphere structure to adjust the posture in the gastrointestinal tract arbitrarily and to roll and walk along the curved intestinal tract by means of a space universal rotating magnetic vector drive. Applying the rotating magnetic vector above the gastrointestinal contact surface to drive the active hemisphere relative to the passive hemisphere in the idling state and the follow-up effect of the corresponding azimuth rotating magnetic vector can realize the arbitrary adjustment of the robot's attitude in the gastrointestinal tract; the latter is a reference capsule robot The front-end camera wirelessly transmits the image to adjust the azimuth of the rotating magnetic vector to make the axis of the robot basically consistent with the bending direction of each section of the intestinal tract, ...

AI Technical Summary

Problems solved by technology

[0015] The technical problem to be solved by the present invention is to provide a double hemispherical capsule robot structurally composed of active and passive two hemispheres, through the rotating magnetic vector applied above the gastrointestinal tract contact surface and in the horizontal plane and with the The driving control method of the rotating magnetic vector perpendicular to the bending direction of the intestinal tract solves the problem of not only ensuring that the robot does not roll and miss the observation area when adjusting the posture, but also ensuring that the axis of the active hemisphere moves to the horizontal plane and contacts the intestinal tract to realize the robot’s active rolling and walking The contradiction between them; the control method of adjusting the axis of the robot to the bending direction of the intestinal tract by wirelessly transmitting images from the front-end camera of the capsule robot, and applying a rolling and rotating magnetic vector perpendicular to the bending direction of the intestinal tract in the horizontal plane avoids the impossibility of imaging technology The technical problem of 3D reconstruction of overlapping intestines to realize the turning of the robot in the intestines

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